Release ar_track_alvar into ROS Noetic? about ar_track_alvar HOT 27 OPEN

@cybernetchi

You can build his repo from source.

In your workspace:

$ git clone https://github.com/machinekoder/ar_track_alvar.git -b noetic-devel

Build with colcon

$ colcon build

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Here is my WIP, I already have it working: https://github.com/machinekoder/ar_track_alvar/tree/noetic-devel

There is quite some potential of reworking parts of the code aside from the port.

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@cybernetchi

You can build his repo from source.

In your workspace:

$ git clone https://github.com/machinekoder/ar_track_alvar.git -b noetic-devel

Build with colcon

$ colcon build

you can also just use catkin_make

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any chance this is going to get merged in and released?

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Turns out porting is not as easy as first thought. ar_track_alvar uses the long dead C API for OpenCV. So conversion to the C++ is needed along the CV3→CV4 port which is small. Moreover, there has been a deprecation of some Eigen types in noetic, which we have to keep in mind, but nothing significant either. So the core effort of porting ar_track_alvar lies in converting the OpenCV C API calls with their C++ API equivalents. Easier said than done, I couldn't find nice porting guide, so this will require some manual lookup old API and replace procedure.

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Thank you @pmusau17 I successfully built in ROS noetic as well.

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@jspricke The API changes between OpenCV3 and 4 seem trivial. Once I have noetic running here I can give it a shot.

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@machinekoder are you still working on this?

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@fmessmer , I did not know of the machinekoder/ar_track_alvar#noetic-devel when I started my attempt. We're definitely not close to something that works. So I might consider taking a look at what machinekoder is doing.

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The machinekoder repo almost works well, however, if you look at some comments on this (unrelated) issue machinekoder#1 , you will notice that there is a problem where nan is published for a lot of the results. I have tracked down the issue and fixed this locally for individual markers by changing a few lines of code in **nodes/InvididualMarkersNoKinect.cpp**. Here is the fix (roughly line 112). Essentially the way the quaternions were retrieved didn't work properly.

     // Get the pose relative to the camera
        int id = (*(marker_detector.markers))[i].GetId();
        Pose p = (*(marker_detector.markers))[i].pose;
        double px = p.translation[0] / 100.0;
        double py = p.translation[1] / 100.0;
        double pz = p.translation[2] / 100.0;

        cv::Mat quat =cv::Mat(4, 1, CV_64F);
        p.GetQuaternion(quat);
        double qx = quat.at<double>(1,0); //p.quaternion[1]; #leaving these comments for the record of what was not working properly in machinekoder's version
        double qy = quat.at<double>(2,0); //p.quaternion[2];
        double qz = quat.at<double>(3,0); //p.quaternion[3];
        double qw = quat.at<double>(0,0); //p.quaternion[0];

I also modified the catch at the end of the callback to catch all exceptions, because I was randomly getting cv errors that would shut down the node, which was annoying.

    catch (const std::exception& e)
    {
      ROS_ERROR("Error in ar_track_alvar callback");
    }

Now the node works well (albeit it seems slower than the melodic version)

Anyways, I don't have the time to go and dig deeper at the root cause of why the quaternion retrieval failed and propose a proper pull request, but this should help anyone trying to debug it, or get it running.

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+1

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ar_track_alvar doesn't use Python, so it's only a matter of publishing the package.

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ar_track_alvar doesn't use Python, so it's only a matter of publishing the package.

modulo the port to OpenCV4..

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@wmmc88 I'm going for it next week as we finally moved to noetic.

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Turns out porting is not as easy as first thought. ar_track_alvar uses the long dead C API for OpenCV. So conversion to the C++ is needed along the CV3→CV4 port which is small. Moreover, there has been a deprecation of some Eigen types in noetic, which we have to keep in mind, but nothing significant either. So the core effort of porting ar_track_alvar lies in converting the OpenCV C API calls with their C++ API equivalents. Easier said than done, I couldn't find nice porting guide, so this will require some manual lookup old API and replace procedure.

Thanks for looking into this. Have you been able to make some progress?

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@ajithcodesit I'm at it. There is quite a lot cv code in there that needs to be translated.

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looking at the Network of this repo ros-perception/ar_track_alvar, it looks like development of this repos has diverged onto forks
is this repo still actively maintained?

@130s you have the last commit to this repo
@sniekum are you still involved?
@sloretz do you know who maintains ros-perception?

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I also see that Intermodalics has a noetic-devel branch, which sees recent contributions, e.g. Intermodalics@dcc8c40

@smits what is different between your version of Intermodalics/ar_track_alvar#noetic-devel and machinekoder/ar_track_alvar#noetic-devel

are you also experiencing the "nan"-issues mentioned in machinekoder#1 (comment)?

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Here is my WIP, I already have it working: https://github.com/machinekoder/ar_track_alvar/tree/noetic-devel

There is quite some potential of reworking parts of the code aside from the port.

@machinekoder I tried your WIP but I am not able to compile it with catkin_make

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@chriskeraly-rios
could you point us to proper commit/branch which contains your fix? or provide and link a pr, please - so people can build on top of your work and test it...

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https://github.com/rios-ai/ar_track_alvar/tree/feature/rios_bug_fix

Here you go. As I said, this is probably not the "proper" way to fix it, but it gets the job done for what I need.

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@chriskeraly-rios @machinekoder are either of you planning to make a noetic-devel PR? I see @haraisao also has a PR for a noetic devel branch.

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Sorry for beginner question,
How to install @machinekoder 's ar_track_alvar?
Thank you

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@machinekoder Thank you for releasing your code.
I tried your code on Ubuntu 20.04. However, I had a following error.

[ERROR] [1668810254.584122576]: Error in ar_track_alvar callback: OpenCV(4.5.4) /home/ubuntu/build_opencv/opencv/modules/core/src/matrix.cpp:250: error: (-215:Assertion failed) s >= 0 in function 'setSize'

How can I solve this issue??

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@NHirose I got the same error on a Jetson Xavier NX/Jetpack 5.0.2. Fore some reason I got installed OpenCV 4.5.4 and 4.2.0. Uninstalled and reinstalled noetic-desktop-full but got the same problem. In my case I added the following to force 4.2.0 usage for libopencv_core.

export LD_PRELOAD=/usr/lib/aarch64-linux-gnu/libopencv_core.so.4.2.0

Switched to this branch. There should be a better way to do it, at least this way got the job done, hope it helps on your environment, regards

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